To provide an unmanned conveyance vehicle capable of controlling a tilting angle of a mast by simple processing.SOLUTION: An unmanned conveyance vehicle includes a cargo handling device having a mast, a fork mounted on the mast, and a tilt cylinder 15 for tilting the mast and a control unit 30 for controlling the posture of the mast. The control device 30 includes a detection unit 34 for detecting the weight of a load held at a fixed position of the fork, an estimation unit 35 for referring to data showing a relationship between the weight of the load at the fixed position and an estimated value of a deflection angle of the fork based on the weight of the load detected by the detection unit 34 to estimate the deflection angle of the fork, a calculation unit 37 for calculating a correction amount of a tilting angle of the mast so as to make the fork horizontal based on the estimated value, and a control unit 38 for controlling the tilting angle of the mast by the tilt cylinder 15 based on the correction amount.SELECTED DRAWING: Figure 3

    【課題】簡単な処理でマストの傾動角を制御することができる無人搬送車両を提供する。【解決手段】無人搬送車両は、マストと、マストに取り付けられたフォークと、マストを傾動させるティルトシリンダ15と、を有する荷役装置と、マストの姿勢を制御する制御装置30と、を備える。制御装置30は、フォークの定位置で保持される荷物の重量を検出する検出部34と、検出部34で検出された荷物の重量に基づいて、定位置での荷物の重量とフォークの撓み角度の推定値との関係を示すデータを参照し、フォークの撓み角度を推定する推定部35と、推定値に基づいて、フォークを水平にするためのマストの傾動角の補正量を算出する算出部37と、補正量に基づいて、ティルトシリンダ15によりマストの傾動角を制御する制御部38と、を有する。【選択図】図3


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    Title :

    UNMANNED CONVEYANCE VEHICLE


    Additional title:

    無人搬送車両


    Contributors:

    Publication date :

    2024-01-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last




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